JP2014037272A - Method and device for screwing and tightening caps - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and a device for screwing and tightening caps in which the yield of capping is high and the manufacturing efficiency is excellent.SOLUTION: The method for screwing and tightening caps, in which a cap 2 which has a screw part held by the capping head 3 is screwed and tightened to a container 1 which has a screw part, includes; a step in which the cap 2 is screwed and tightened to the container 1 by the normal rotation of a motor 4; a step, when poor screwing and tightening is decided by the surveillance of a screwing and tightening state, makes the motor 4 reverse rotate to an inter-meshing position where the screw part of the container 1 meshes together with the screw part of the cap 2; and a step, after the inter-meshing position is arrived at, makes the motor 4 normal rotation so as to carry out screwing and tightening.

Description

  The present invention relates to a cap winding method and a cap winding device that wind a cap held by a capping head around a mouth of a container.

  Conventionally, in a cap method and a cap device in which a capping head for gripping a cap is rotated by a motor and the cap is wound around a container, when the capping head grips the cap diagonally, the cap is mounted diagonally with respect to the container As a result, defective products with insufficient winding may occur.

  In order to detect such a defective product, a tightening state is determined using torque acting on the capping head.

  For example, in Patent Document 1, the winding tightening process is divided into at least sub-processes before final tightening and final tightening, and the sub-process before final tightening is temporarily tightened with a torque monitoring value lower than the final tightening set torque. The temporary tightening end point is reached when the set torque is reached, and the process proceeds to the final tightening sub-process, and the final tightening ends when the monitoring value reaches the final tightening set torque, the servo motor stops and the end of winding is confirmed. The cap rotation angle between the temporary winding end point and the final tightening end point is detected, and the non-defective product depends on whether the monitoring torque with respect to the final tightening set torque and the cap rotation angle are within a preset range. Alternatively, a cap winding method for determining a defective product has been proposed.

  Patent Document 2 proposes a capping device that determines the quality of capping by comparing a torque at a time point that is a predetermined time after a capping end time with a predetermined torque that is set in advance.

  Furthermore, in order to detect a defective product of winding, the winding state is determined by detecting the rotation angle of the capping head.

  For example, Patent Document 3 proposes a method of determining the winding tightening state by comparing the rotation angle of the capping head from the winding tightening reference position to the end of winding tightening with the winding tightening end angle.

Japanese Patent Laid-Open No. 2003-081387 JP 2011-162222 A JP 2005-162227 A

  However, the inventions described in Patent Document 1 to Patent Document 3 are not limited to detecting defective products, and do not reduce defective products. Further, it is necessary to remove the detected defective products from the conveyance line, and there is room for improvement in improving productivity.

  Accordingly, the present invention has been made in view of such circumstances, and prevents the occurrence of a cap winding failure, and if a cap winding failure occurs as soon as possible. It is an object of the present invention to provide a cap tightening method and a cap tightening device that can suppress the manufacture of a product with poor winding tightening and increase the capping yield and are excellent in production efficiency.

  In order to solve the above-mentioned problem, the first invention of the present application is a cap for tightening a cap having a screw portion gripped by a capping head while monitoring a tightening state on a container having the screw portion by rotational driving of a motor. A winding method, wherein the motor is reversely rotated to a meshing position where the screw portion of the cap and the screw portion of the container are meshed, and when the meshing position is reached, the motor is rotated forward and tightened. Yes.

  A second invention of the present application is a cap winding method in which a cap having a screw portion gripped by a capping head is tightened on a container having a screw portion while monitoring the tightening state by rotational driving of a motor, When the cap is wound around the container by rotating the motor in the forward direction and the tightening failure is determined by monitoring the tightening state (for example, when the torque applied to the capping head is larger than a set value), the cap The motor is reversely rotated to a meshing position where the screw portion of the container and the screw portion of the container are meshed, and when the meshing position is reached, the motor is rotated forward and tightened.

  A third invention of the present application is a cap winding method in which a cap having a screw portion held by a capping head is tightened on a container having a screw portion while monitoring the tightening state by rotational driving of a motor, The motor is reversely rotated to the meshing position where the screw part of the cap and the screw part of the container are engaged, and when the meshing position is reached, the motor is rotated forward and tightened, and the tightening failure is determined by monitoring the tightening state. (For example, when a torque applied to the capping head is larger than a set value), the motor is rotated backward to the meshing position, and when the meshing position is reached, the motor is rotated forward and tightened. Yes.

  4th invention of this application WHEREIN: In the cap winding method of 2nd and 3rd invention, when the winding fastening defect is judged by monitoring the said fastening state (for example, the torque added to the said capping head is larger than a setting value) In such a case, it is determined that the setting condition for re-tightening the cap on the container, that is, executing the retry control, is satisfied, and the motor is moved to the meshing position only when the setting condition is satisfied. Is rotated in the reverse direction, and when the meshing position is reached, the motor is rotated forward and tightened.

  According to a fifth invention of the present application, in the cap winding method according to any one of the first to fourth inventions, the motor is connected to directly drive the capping head to rotate.

  A sixth invention of the present application is characterized in that, in the cap winding method of any one of the first to fifth inventions, the screw portion is a double threaded screw portion.

  A seventh invention of the present application is a cap tightening device for tightening a cap having a threaded portion on a container having a threaded portion, the capping head gripping the cap having the threaded portion, and rotating the capping head. A motor, a control device for controlling the motor, and winding tightening monitoring means for outputting a monitoring result of a winding tightening state to the control device, wherein the control device rotates the motor in the forward direction to remove the cap. When it is determined that a winding failure has occurred by monitoring the tightening state when the container is tightened, the motor is reversely rotated to the meshing position where the screw portion of the cap and the screw portion of the container mesh, and when the meshing position is reached, It is characterized in that it is formed so as to execute a control for rotating the motor forward and tightening.

  According to an eighth aspect of the present invention, in the cap tightening device according to the seventh aspect of the present invention, the control device is configured to perform the tightening by monitoring the tightening state when the cap is wound onto the container by rotating the motor forward. When a defect is determined, it is determined whether a setting condition for re-tightening the cap on the container is satisfied, and only when the setting condition is satisfied, the motor is reversely rotated to the meshing position, It is characterized in that the motor is normally rotated and tightened when it is in the meshing position.

  A ninth invention of the present application is a cap tightening device for tightening a cap having a threaded portion on a container having a threaded portion, the capping head gripping the cap having the threaded portion, and rotating the capping head. A motor; a control device that controls the motor; and torque detection means that detects torque acting on the capping head, wherein the control device rotates the motor forward to wind the cap around the container. In addition, the capping detected when the torque applied to the capping head when the cap is wound around the container by rotating the motor forward is an abnormal value such as, for example, larger than a set value. Based on the torque change acting on the head, the screw portion of the cap and the screw portion of the container are engaged with each other. Up if the position by reversely rotating the motor, is characterized in that it is formed so as to execute a control for seaming the motor rotated forward and becomes the engagement position.

  A tenth invention of the present application is a cap winding device that winds a cap having a screw portion around a container having a screw portion, the capping head holding the cap having the screw portion, and rotating the capping head. A motor, a control device for controlling the motor, and torque detection means for detecting torque acting on the capping head, the control device based on a detected torque change acting on the capping head. The motor is reversely rotated to a meshing position where the screw part of the cap and the screw part of the container are engaged, and when the meshing position is reached, the motor is rotated forward to wind the cap around the container and the motor is rotated forward. The torque applied to the capping head when the cap is wound around the container is, for example, In the case of an abnormal value such as larger than a set value, the motor is reversely rotated to the meshing position where the motor meshes based on the detected torque change acting on the capping head, and when the meshing position is reached, It is characterized in that it is formed so as to execute a control for rotating the motor forward and tightening.

  An eleventh invention of the present application is a cap tightening device for tightening a cap having a threaded portion on a container having a threaded portion, the capping head gripping the cap having the threaded portion, and rotating the capping head. A motor, a control device for controlling the motor, torque detection means for detecting torque acting on the capping head, and position detection means for detecting a positional relationship between the cap and the container, the control device comprising: The height of the cap at the meshing position where the screw portion of the cap and the screw portion of the container are meshed is stored in advance, the motor is rotated forward to wind the cap around the container, and the motor The torque applied to the capping head when the cap is wound around the container by rotating it forward is, for example, In the case of an abnormal value such as larger than a constant value, the motor is rotated backward to the meshing position based on the detected height of the cap, and when the meshing position is reached, the motor is rotated in the forward direction. It is characterized by being configured to execute a tightening control.

  A twelfth invention of the present application is a cap tightening device for tightening a cap having a threaded portion on a container having a threaded portion, the capping head gripping the cap having the threaded portion, and rotating the capping head. A motor, a control device for controlling the motor, torque detection means for detecting torque acting on the capping head, and position detection means for detecting a positional relationship between the cap and the container, the control device comprising: The height of the cap at the meshing position where the threaded portion of the cap and the threaded portion of the container mesh with each other is stored in advance, and the motor is reversed to the meshing position based on the detected height of the cap. When rotated, when the mesh position is reached, the motor is rotated forward to wind the cap around the container, and the motor Based on the detected height of the cap when the torque applied to the capping head when rotating the cap around the container by rotating it forward is an abnormal value, for example, larger than a set value. Then, the motor is reversely rotated to the meshing position, and when the meshing position is reached, the motor is rotated forward and tightened to perform tightening control.

  A thirteenth invention of the present application is a cap winding device that winds a cap having a threaded portion around a container having a threaded portion, the capping head gripping the cap having the threaded portion, and rotating the capping head. A motor, a control device that controls the motor, torque detection means that detects torque acting on the capping head, and angle detection means that detects a rotational angle position of the capping head, the control device includes: Based on the detected torque change acting on the capping head, the motor is reversely rotated to the meshing position where the screw part of the cap and the screw part of the container mesh, and when the meshing position is reached, the meshing position is used as a reference. Detecting the rotational angle position of the capping head to be detected and the torque acting on the capping head The torque applied to the capping head when the motor is rotated forwardly to wind the cap around the container and the motor is rotated forward to wind the cap around the container is, for example, a set value If it is an abnormal value, such as larger, the forward rotation of the motor is stopped, the motor is rotated backward to the meshing position based on the detection result of the angle detection means at the time of the stop, and the meshing When the position is reached, the motor is configured to execute a control of rotating the motor forward and tightening.

  A fourteenth aspect of the present invention is the cap tightening device according to the ninth to thirteenth aspects, wherein the control device rotates the motor in the normal direction to wind the cap around the container and torque applied to the capping head. Is an abnormal value such as, for example, larger than a set value, it is determined whether the setting condition for retightening the cap around the container (execution of retry control) is satisfied, and the setting condition is Only when it is satisfied, the motor is reversely rotated to the meshing position, and when the meshing position is reached, the motor is rotated forward and tightened.

  According to a fifteenth aspect of the present invention, in the cap tightening device according to the seventh to fourteenth aspects, the motor is connected so as to directly drive the capping head to rotate.

  According to a sixteenth aspect of the present invention, in the cap tightening device according to any one of the seventh to fifteenth aspects, the screw portion is a double thread portion.

  According to the tightening method and the tightening device of the present invention, it is possible to prevent the occurrence of a poor tightening of the cap, and to respond as quickly as possible when a poor tightening of the cap occurs. By suppressing the production of a product with poor winding, there is provided a cap winding method and a cap tightening device that have a high capping yield and are excellent in production efficiency.

FIG. 1 is a schematic diagram showing a first embodiment of a cap tightening device according to the present invention. FIG. 2 is a graph showing the rotational speed and torque patterns of the motor when normally wound according to the present invention. FIG. 3A is a graph showing a rotational speed and torque pattern of a winding abnormality motor according to the present invention, and FIG. 3B is a graph showing a rotational speed and torque pattern of another winding abnormality motor. . FIG. 4 is a flowchart of a capping process performed by the first embodiment of the cap tightening method according to the present invention. FIG. 5 is a schematic view showing a second embodiment of the cap tightening device according to the present invention. FIG. 6 is a flowchart of a specific example of the second embodiment of the cap tightening method according to the present invention. FIG. 7 is a graph showing an outline of a motor torque pattern (waveform) in the specific example of the second embodiment of the winding method according to the present invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic diagram showing a first embodiment of a cap tightening device. The cap tightening device includes a capping head 3 that grips the cap 2, a motor 4 that rotationally drives the capping head 3, a control device 5 that controls the motor 4, and a torque that detects torque acting on the capping head 3. The detection means 6 and a position detection means 8 as a tightening state monitoring means capable of detecting a meshing position where the tip of the screw portion of the cap 2 and the tip of the screw portion of the container 1 are engaged with each other. In this cap tightening device, the cap 2 held by the capping head 3 is put on the mouth of the container 1, and the capping head 3 is rotationally driven by the motor 4 so that the cap 2 is wound around the mouth of the container 1. ing. Here, the meshing position is formed at the front end of the screw part formed on the cap 2 in a state fitted to the mouth of the container 1 and the mouth of the container 1 as described later. In this state, the cap 2 is dropped by one pitch, and the screw portion of the cap 2 and the screw portion of the container 1 start to engage with each other by forward rotation. is there.

  The cap 2 only needs to have a threaded portion formed on the inner wall surface. The threaded portion may be selected from a single threaded screw or a multiple threaded screw. In the present embodiment, the threaded portion is a multiple threaded screw portion. When the cap 2 covers the mouth of the container 1 having a multi-threaded portion in an oblique direction and is fitted in another screw groove, the cap head 3 is rotationally driven in the direction opposite to the winding direction, and the cap 2 is moved in the reverse direction. When the cap 2 is rotated, the cap 2 falls into an appropriate screw groove, and the abnormality can be corrected. Even if the cap 2 covers the mouth of the container 1 without being inclined, if the cap 2 is rotated in the reverse direction, the cap 2 falls into an appropriate screw groove.

  As the multi-thread thread portion formed on the cap 2, a double thread is preferably used. The material, shape, and size of the cap 2 having a multi-threaded portion are not limited, and specifically, synthetic resin, metal, and the like can be suitably used.

  As described above, the container 1 may have a threaded portion at the mouth so that the fitting with the threaded portion of the cap 2 can be corrected. In this embodiment, the screw formed at the mouth is also a multi-threaded screw. The material, shape, and size of the container 1 having a multi-threaded portion are not limited. Specifically, glass, synthetic resin, metal and the like can be preferably used.

  The capping head 3 is provided with a chuck that holds the cap 2 and a rotating shaft that moves the chuck up and down. The capping head 3 is rotationally driven by the motor 4, and the cap 2 gripped by the chuck is attached to the container 1 by raising and lowering the rotating shaft that is rotationally driven integrally with the capping head 3, and the cap 2 is tightened. As the capping head 3, the mechanical structure is not limited, and an arbitrary one can be used.

  The rotation of the motor 4 is controlled by the control device 5. The motor 4 includes a torque detecting means 6 as a tightening state monitoring means for detecting a torque acting on the capping head 3 and a rotation detecting means 7 for detecting the rotational speed of the motor 4, and electrical signals from both detecting means. Is input to the control device 5. The control device 5 commands the motor 4 to be rotationally driven at the set rotational speed and the set torque, and the motor 4 performs rotational driving in accordance with this command. The motor 4 transmits the rotation drive of the motor 4 to the connected capping head 3 to drive the capping head 3 to rotate, and the cap 2 is wound around the container 1. Specifically, a servo motor having high operation accuracy can be preferably used.

  In general, since the motor 4 transmits rotational driving to the capping head 3 via a speed reducer or a gear, an error occurs between the torque set by the control device 5 and the torque acting on the capping head 3. . Therefore, in order to improve the detection accuracy of the torque acting on the capping head 3, it is desirable that the motor 4 is connected so as to directly drive the capping head 3 to rotate.

  The control device 5 controls the rotational drive of the motor 4 by instructing the rotational speed and direction of the motor 4 and the torque applied to the capping head 3. The control device 5 includes a calculation unit 5A, a determination unit 5B, and a command unit 5C. The calculation unit 5A calculates and records the torque acting on the actual capping head 3 and the rotation speed of the motor 4 based on the electrical signals detected by the torque detection means 6 and the rotation detection means 7. The determination unit 5B determines whether or not the cap winding is normal based on the torque pattern as shown in FIGS. The command unit 5C commands the rotation speed and rotation direction of the motor 4 and the torque applied to the capping head 3.

  The control device 5 can use any device as long as it can control the rotational drive of the motor 4 as described above.

  The position detection means 8 includes a position information detection unit that detects the positional relationship between the cap 2 and the container 1 and a recording unit that records the position information, and inputs the position information of the cap 2 and the container 1 to the control device 5. To do. Generally, in the cap tightening device, the container 1 is fixed at a predetermined position, and the cap 2 held by the capping head 3 positioned immediately above the container 1 is tightened. Similarly to the container 1, the position of the cap 2 after the cap is tightened is also determined at a predetermined position. The positional information on the cap 2 and the container 1 uses positional information on the cap 2 or the capping head 3 that moves linearly and relatively in the height direction of the container 1 as the cap 2 is tightened.

  Any position detecting means 8 may be used as long as it can measure the positional relationship between the cap 2 and the container 1 as described above. Specifically, a photoelectric tube sensor, an ultrasonic sensor, a visual sensor, or the like can be used.

  FIG. 2 shows a rotational speed and torque pattern of the motor 4 when the cap 2 is normally wound around the container 1 from the start to the end of meshing of the cap 2 in the present invention. The control device 5 sets a rotational speed 10 and a torque (not shown) in advance, and changes between the actual rotational speed 20 of the motor 4 and the torques 30 to 33 acting on the capping head 3 from the start to the end of cap engagement. Is detected and recorded.

  When the multiple threads of the cap 2 held by the capping head 3 and the multiple threads of the container 1 come into contact with each other, the torque increases for a moment due to the resistance of the contact, and immediately decreases (30). As the cap tightening progresses, the torque shows a steady value because the resistance between the threads is constant (31). When the end of winding tightening approaches, the torque increases rapidly (32), and when the set torque is reached, the control device 5 instructs the motor 4 to stop rotational driving, and the cap tightening ends ( 33).

  FIGS. 3A and 3B show the rotational speed and torque patterns of the motor 4 when the cap is tightened abnormally from the start to the end of the cap 2 in the cap tightening method according to the present invention. (The contents indicated by the reference numerals are the same as those in FIG. 2). For example, when the cap 2 covers the container 1 at an angle, the rotational speed is not so different from that of the normal cap tightening shown in FIG. (See FIG. 3A).

  Further, when the cap 2 is a soft material such as a synthetic resin, even if the cap 2 is obliquely covered with the container 1, the multi-threaded thread portion of the cap 2 forcibly gets over the screw groove of the container 1 and is tightened. May end up. Such a cap 2 and the container 1 are difficult to distinguish from those which are normally wound and externally visible, but the sealing performance of the container 1 by the cap 2 is not ensured. However, even if such a cap tightening abnormality occurs, the torque acting on the capping head 3 does not have the same pattern as the normal cap tightening torque shown in FIG. It is rising while disturbing (see FIG. 3B).

  Thus, in the present invention, paying attention to the torque 30 to 32 during the period from when the torque decreases until it increases again, the upper limit value of the normal cap tightening torque that has been measured in advance is set, When this upper limit is exceeded, it is determined that the cap winding is abnormal. The upper limit value of the torque for normal tightening can be arbitrarily set, but the value varies depending on the combination of the cap tightening device, the cap 2 and the container 1, and may be appropriately set according to the combination.

  In the cap winding method according to the present embodiment, first, the cap 2 held by the capping head 3 is put on the mouth of the container 1. The control device 5 connected to the motor 4 instructs the motor 4 on information on the rotational speed and torque set in advance, and drives the motor 4 to rotate in the winding direction, that is, forwardly rotates to tighten the cap. Start. From the tightening of the cap 2 to the end, the torque detecting means 6 and the rotation detecting means 7 provided in the motor 4 detect the torque acting on the capping head 3 and the rotational speed of the motor, and the control device 5 stores the information. input. At the same time, the position detection means 8 detects the position information of the cap 2 and the container 1 and inputs the position information to the control device 5. The calculation unit 5A of the control device 5 calculates and records the torque acting on the actual capping head 3 and the rotation speed of the motor 4 based on the electrical signals detected by the torque detection means 6 and the rotation detection means 7. The determination unit 5B determines whether or not the cap winding is normal based on the torque pattern as shown in FIGS. The command unit 5 </ b> C commands the rotation speed and direction of the motor 4 and the torque applied to the capping head 3 based on information from the torque detection unit 6, the rotation detection unit 7, and the position detection unit 8.

  For example, as shown in the flowchart of FIG. 4, when the torque applied to the capping head 3 is larger than a set value, the control device 5 determines that the cap threading abnormality of the cap 2 and the multi-threading thread portion of the container 1 are caused by the cap winding abnormality. The motor 4 is reversely rotated to the meshing position where the two mesh with each other.

  The meshing position where the multiple threaded portion of the cap 2 and the multiple threaded portion of the container 1 mesh is based on the positional information of the cap 2 and the container 1 measured by the position detection means 8 described later. For example, when the cap 2 is obliquely placed on the mouth of the container 1, the position of the cap 2 is detected at a location away from the container 1 as compared with the case where the cap 2 is normally covered. When the capping head 3 rotates in the direction opposite to the winding direction, when the cap 2 normally covers the container 1, the cap 2 rises along the multiple threaded portion of the container 1 and then falls. When the cap 2 covers the container 1 at an angle, the cap 2 rises along the multi-threaded thread portion as in a normal case, and then fits in an appropriate screw groove, and the cap 2 falls.

  The positional information of the cap 2 and the container 1 when the winding is normally performed and when the winding is not performed is recorded in the position detecting unit 8 in advance, and it is determined whether the cap 2 is normally fitted to the container 1. Position information is input to the control device 5. Since the position information changes depending on the combination of the cap tightening device, the cap 2 and the container 1, it may be set as appropriate according to the combination.

  When the multi-threaded thread portion of the cap 2 and the multi-threaded thread portion of the container 1 are aligned at the meshing position, the control device 5 now rotates the motor 4 in the normal direction to resume the tightening and set the end of the tightening When the torque 33 is reached, the cap winding is finished. In addition, after detecting the winding abnormality in this way, the motor 4 is reversely rotated to the meshing position where the multiple threaded portion of the cap 2 and the multiple threaded portion of the container 1 mesh, and then the motor 4 is rotated forward. Control of the motor that resumes tightening is defined as retry control. In the retry control, the position to be rewound by reverse rotation is not limited to the meshing position, and a position based on the meshing position is set as a retry start position, and during the retry control, the position is rewound to the retry start position. It is also possible to control. By setting a position wound in the forward rotation direction from the meshing position as the retry start position, it is possible to shorten the time required for retry control.

  Further, the torque set by the control device 5 and the measured torque acting on the capping head 3 are compared to determine whether to reversely rotate the motor 4, that is, the winding is monitored by monitoring the tightening state. The control device 5 reverses the motor 4 to the meshing position where the multiple threaded portion of the cap 2 and the multiple threaded portion of the container 1 are meshed with each other for the tightening of the cap. The motor 4 may be rotated and then the motor 4 may be rotated forward and tightened. This eliminates determination errors, improves the capping yield, and reduces the number of containers to be discarded.

  Further, first, a step of reversely rotating the motor 4 to the meshing position where the multi-threaded screw portion of the cap 2 and the multi-threaded screw portion of the container 1 are meshed is added. When the torque applied to the capping head 3 is larger than the set value, the motor is reversely rotated to the meshing position where the multi-threaded screw portion of the cap 2 and the multi-threaded screw portion of the container 1 mesh with each other. Then, the motor 4 may be rotated forward and tightened. As a result, determination errors are further eliminated, the capping yield is further improved, and the number of containers to be discarded is further reduced.

  Further, a step of determining whether a condition for executing a predetermined retry control is satisfied and a step of executing the retry control only when the condition is satisfied are added. When the tip of the multi-threaded screw portion 2 and the tip of the multi-threaded screw portion of the container 1 are in the meshing position, the motor 4 is rotated forward and tightened to detect that the torque applied to the capping head 3 is greater than the set value. In this case, that is, when it is determined that winding failure has occurred, the forward rotation of the motor 4 is stopped, the satisfaction of conditions for executing a predetermined retry control is determined, and the conditions are satisfied. In the case where the screw portion of the cap 2 and the screw portion of the container 1 are engaged with each other, the motor 4 is reversely rotated to the meshing position, and when the meshing position is reached, the motor 4 is rotated forwardly and tightened. When the condition is not satisfied, the tightening of the cap 2 with respect to the container 1 may be terminated. Thus, by determining whether or not the retry control can be executed, it is possible to avoid repeating the retry control many times, further improving the yield of capping, and further reducing the number of containers to be discarded.

  In addition to monitoring the torque applied to the capping head 3, the occurrence of the tightening failure can be determined by, for example, monitoring the height position of the cap 2 by the position detection unit 8 or an angle detection unit described later. it can.

  FIG. 5 is a schematic view showing a second embodiment of the cap tightening device of the present invention. The description of the same configuration as that of the first embodiment is omitted.

  The cap tightening device according to the present embodiment replaces the position detection means of the cap tightening device according to the first embodiment, and includes an angle detection unit as a tightening state monitoring unit, such as an encoder that detects the rotational angle position of the capping head. 9.

  Moreover, the control apparatus 5 is further provided with the memory | storage part 5D and the time measuring part 5E in addition to the calculating part 5A, the determination part 5B, and the instruction | command part 5C.

  The calculation unit 5A further reflects the torque acting on the actual capping head and the rotation of the motor based on the electrical signal detected by the angle detection means 9.

  The storage unit 5D manages a determination condition for determining whether to perform retry control, which is set in advance by an input unit (not shown). The time measuring unit 5E measures various times related to winding.

  In the present embodiment, as the determination condition, the allowable number of retry control (referred to as a retry control counter; “3” in the present embodiment) and the engagement at the time of detecting the winding torque abnormality measured by the time measuring unit 5E. Manage the elapsed time of forward rotation from the position. The initial value n of the retry control counter is 0, and the numerical value of the retry control counter is initialized by the completion process when capping for the container 1 is completed. As a determination condition for the retry control, a winding tightening torque may be used, or a rotational angle position from the meshing position may be used. Moreover, since the said judgment conditions change with the combination of a cap winding apparatus, the cap 2, and the container 1, what is necessary is just to set suitably.

  The cap tightening method in the present embodiment is a vertically lower portion of the screw portion formed on the cap 2 in a state where the cap 2 held by the capping head 3 that can rotate forward and backward is fitted to the mouth of the container 1. The position where the side tip and the top end of the threaded portion formed at the mouth of the container 1 are unlocked and the cap 2 falls is detected as a meshing position. After the meshing position is detected, the meshing position is detected. Detecting the position of the cap 2 with reference to, and measuring the tightening torque of the cap 2, when it is judged that the tightening is poor in the tightening, immediately stop the rotation of the cap 2 in the tightening direction, , It is determined whether or not a predetermined determination condition relating to retry control is satisfied or not, and if it is determined to be acceptable or not, the cap is detected based on the detection result of the position of the cap 2 at the time of the stop. , The cap 2 is returned to the meshing position and positioned again, and then the cap 2 is forwardly rotated again from the meshing position at the torque and speed of the tightening to perform the predetermined tightening, and it is determined as NO If this is the case, retry control for completing the tightening of the cap 2 is executed.

  In the present invention, the element used as a reference for judging the winding failure is not limited to an abnormal torque value (a high value based on the set value, or a low value in some cases). The determination can also be made based on the amount of rotation detected after elapse of a certain time detected using the means 9, the height position of the cap after elapse of a certain time using the position detection means 8, and the like. In addition, as in the first embodiment, a method for determining an abnormal torque value is obtained by measuring a reference torque in advance and setting it as a set value, which is higher than the set value (and also setting a lower limit value). May be determined as abnormal, or the abnormality may be determined based on the rate of change from the torque value immediately before detection.

  In the cap tightening device and the cap tightening method of the present embodiment in which the tightening is performed under such control, the cap 2 is tightened with respect to the container 1 at the start of meshing by performing the above-described retry control. It is possible to respond as soon as possible to a sign of the occurrence of a defect and to suppress the occurrence of a product with a winding failure. Furthermore, even if it is determined that the retry control cannot be executed by determining whether or not a predetermined determination condition is satisfied, it is possible to prevent time from being used for capping the container.

  Hereinafter, the cap tightening method using the cap tightening device of the second embodiment will be described in detail with reference to the torque waveform of the motor 4 of FIG. 7 according to the flowchart of FIG. In FIG. 7, the reverse rotation section of the motor 4 is indicated by a one-dot chain line.

  In the cap tightening method according to the present embodiment, a meshing position detecting step for detecting the meshing position, and a predetermined temporary tightening by rotating the cap from the meshing position in a tightening direction at a torque and a rotational speed for temporary tightening. A temporary tightening step, and a final tightening step of rotating the temporarily tightened cap in the winding direction at a torque and rotation speed for final tightening to perform predetermined final tightening, and retry control in the temporary tightening step It is judged whether or not a predetermined judgment condition regarding whether or not is satisfied.

[Meshing position detection process]
In this embodiment, first, when the container 1 is held on a mounting table (not shown) by a holding member (not shown), the capping head 3 grips the cap 2 and the control device 5 is an elevating means (not shown). , The capping head 3 is lowered, and the held cap 2 is fitted into the mouth of the container 1. At this time, the vertically lower end of the screw portion formed on the cap 2 and the vertically upper end of the screw portion formed at the mouth of the container 1 are locked.

  Subsequently, the control device 5 starts the motor 4 with the holding of the container 1 as an opportunity (ST1), and the capping head 3 is set in an anti-winding direction from the stop position to the anti-winding direction via the rotation shaft ( In this embodiment, the rotation is reversed by a maximum of about 255 ° (ST2).

  The cap 2 gradually rises along the inclination of the threaded portion of the cap 2 and the container 1 due to the reverse rotation of the capping head 3 in the anti-winding direction, and the vertically lower end of the threaded portion formed on the cap 2 and the container The threaded portion formed at the mouth portion of 1 is disengaged from the top end on the vertically upper side, and the cap 2 falls abruptly by one pitch of the screw.

  During this time, the torque detection means 6 continuously measures the tightening torque acting on the cap 2 (see FIG. 7). Then, when the torque detecting means 6 detects the time point (point A in FIG. 7) when the tightening torque is momentarily reduced (YES in ST4), the control device 5 stops the driving of the motor 4, The reverse rotation of the capping head 3 is stopped (ST5). Thereafter, the control device 5 determines that the cap 2 has dropped, and stores the position where the cap 2 has dropped as a meshing position (ST6).

  The torque detection means 6 also detects the torque at the time of rotation start of the motor 4, so that the control device 5 has a certain range immediately after the start of driving of the motor 4 in order to prevent erroneous detection of changes in the tightening torque. (A certain time or a certain rotation angle) is set in advance as a dead range, and this dead range is excluded from monitoring the change in the tightening torque (ST3. In this respect, the following “dead range” is the same).

  At this time, the vertically lower tip of the screw portion formed on the cap 2 and the vertically upper tip of the screw portion formed on the mouth portion of the container 1 are positioned so as to abut each other, and at the start of meshing It will be in the state where both screw parts of these are easily screwed appropriately. Therefore, when the control device 5 next drives the motor 4 and rotates the capping head 3 in the winding direction via the rotating shaft, both screw portions can be smoothly screwed together, resulting in the occurrence of winding failure. Can be suppressed.

  The method for detecting the meshing position is not limited to the method of this embodiment, and a conventionally known method can be adopted.

[Temporary tightening process]
The control device 5 drives the motor 4 while controlling the angle detection means 9 (ST7), rotates the capping head 3 from the meshing position through the rotating shaft in the winding direction, and is preset by the angle detection means 9. After detecting that the predetermined angle (about 250 ° in the present embodiment) has been exceeded (ST10), while monitoring the torque limit for temporary fastening (ON) (ST11), Temporarily tighten by rotating at torque and speed. When the cap 2 rotates and is screwed into the threaded portion of the container 1, the capping head 3 is rotated in a state substantially close to the idling state until the cap 2 is rotated as required. Therefore, the capping head 3 can be rotated at a high speed.

  At this time, in the present embodiment, the torque detection means 6 continuously measures the tightening torque acting on the cap 2. Then, after passing the dead range (ST8), the control device 5 monitors the change of the winding torque until the temporary tightening is completed (ST11) due to torque limitation (ST9).

  At this time, in this embodiment, when the control device 5 determines that the tightening torque is abnormal (YES in ST9, point B in FIG. 7), the control device 5 first stops driving the motor 4 and performs capping. The rotation of the head 3 is stopped. That is, the forward rotation of the cap 2 in the winding direction is stopped (ST12).

  Next, it is determined whether the determination condition managed in the storage unit 5D is satisfied or not (ST13). That is, the numerical value of the retry control counter is confirmed, and if it is equal to or smaller than the retry control counter value (“3” in the present embodiment) that is a preset judgment condition (YES in ST13), the process proceeds to the next step. Then, when the winding torque abnormality is detected, the elapsed time of the forward rotation from the meshing position when stopped is detected by the timer 5E (ST14), and this elapsed time and determination of whether or not to execute the retry control The conditions are compared (ST15). When the elapsed time is within the time limit managed as the determination condition (YES in ST15), the control device 5 drives the motor 4 (ST16) and detects the capping head 3 through the rotation shaft. The motor 4 is reversely rotated from the position to the meshing position (ST17), and then the drive of the motor 4 is stopped and the reverse rotation of the capping head 3 is stopped (ST18).

  Then, 1 is added to the retry control counter managed in the storage unit 5D (ST18).

  Subsequently, the control device 5 drives the motor 4 again (point C in FIG. 7) to cause the capping head 3 to rotate forward in the winding direction at a torque and speed for temporary tightening via the rotating shaft, and to a predetermined value. Are temporarily tightened (ST7 to ST11).

  Note that if the retry control counter value or the elapsed time at the time of occurrence of the torque abnormality does not satisfy the determination condition (NO in ST13 and ST15), the tightening of the cap 2 on the container 1 is finished as it is. Therefore, a completion process described later is performed.

[Final tightening process]
When the temporary tightening is completed, the control device 5 then drives the motor 4 (ST20), rotates the capping head 3 in the winding direction via the rotating shaft, and sets a preset final tightening minimum time (about 100 ms). ) As described above, the final tightening torque and speed are rotated (ST21), and the final tightening torque is tightened (ST22). Since the final tightening is a process for ensuring the screwing of the cap 2 that has already been temporarily tightened, the torque and rotational speed for the final tightening are relatively high torque and low speed. That is, when the container 1 and the cap 2 are brought into close contact with each other by tightening, the rotational speed of the capping head 3 is inevitably reduced, and the tightening torque is increased.

  Thereafter, the control device 5 stops the driving of the motor 4, stops the rotation of the capping head 3 (ST23), stops the normal rotation of the cap 2 in the winding direction, and other means and the retry control counter. The numerical value of is initialized (reset) and the completion process is executed. Thereby, the winding operation of the cap 2 around the container 1 is terminated (ST24). The control device 5 receives the tightening forcible end signal as an interrupt signal during the engagement position detection process, the temporary tightening process, and the final tightening process, thereby tightening the cap 2 around the container 1. It is also assumed that control for ending is executed.

  It should be noted that numerical values such as the allowable number of retry controls set in the present embodiment and the elapsed time from the meshing position when detecting an abnormality in the tightening torque are not limited to the set values.

  Further, the determination condition itself may be, for example, a torque or a rotation angle other than the elapsed time. For example, the rotation angle detection means 9 detects the rotation angle from the meshing position at the time of detecting the winding torque abnormality, and this rotation angle and the rotation angle as a determination condition as to whether or not to execute the retry control, May be determined to determine whether retry control is possible. The determination condition may be one or a plurality of combinations.

  Furthermore, in relation to the conveyance supply of the container 1, the winding device may be a so-called rotary type, linear type, or single axis type.

  According to the winding method of the present embodiment, by performing retry control, it is known that a winding failure occurs as in the conventional case, but the operation is continued, and finally the container of the winding failure is finally obtained. It is possible to significantly suppress the occurrence of a product with poor winding tightening without eliminating or stopping / stopping the driving of the winding tightening device.

  Also, when performing retry control, even if it is determined that retry control cannot be performed by determining whether or not a predetermined determination condition is satisfied, it is possible to take time for capping the container. Can be prevented.

  In other words, this winding method is effective when the capping time for each container is constant, and in particular, in a filling mechanism such as a rotary type, capping is performed in the same required time for containers that are continuously supplied. In case of carrying out capping, or in the intermittent drive type filling mechanism that transports multiple containers at the same time, capping failure occurs when capping is performed at the same time on multiple containers supplied at the same time The rate is also significantly lower than in the prior art, and it is excellent in that it can be completed in a predetermined time without the time required for capping each container being extended.

DESCRIPTION OF SYMBOLS 1 Container 2 Cap 3 Capping head 4 Motor 5 Control apparatus 5A Calculation part 5B Determination part 5C Command part 5D Storage part 5E Timekeeping part 6 Torque detection means 7 Rotation detection means 8 Position detection means 9 Angle detection means 10 Set speed 20 Actual speed 30-33 torque

Claims (16)

A cap tightening method of tightening a cap having a screw portion gripped by a capping head on a container having a screw portion while monitoring the tightening state by rotational driving of a motor,
Reversely rotating the motor to a meshing position where the threaded portion of the cap and the threaded portion of the container are meshed,
A cap winding and tightening method, wherein when the meshing position is reached, the motor is rotated forward and tightened. A cap tightening method of tightening a cap having a screw portion gripped by a capping head on a container having a screw portion while monitoring the tightening state by rotational driving of a motor,
Rotate the motor forward to wind the cap around the container,
When it is judged that the tightening is poor by monitoring the tightening state, the motor is reversely rotated to the meshing position where the threaded portion of the cap and the threaded portion of the container are engaged,
A cap tightening method, wherein when the meshing position is reached, the motor is rotated forward to tighten. A cap tightening method of tightening a cap having a screw portion gripped by a capping head on a container having a screw portion while monitoring the tightening state by rotational driving of a motor,
Reversely rotating the motor to a meshing position where the threaded portion of the cap and the threaded portion of the container are meshed,
When the meshing position is reached, the motor is rotated forward and tightened,
A cap winding method characterized in that when a winding failure is determined by monitoring the winding state, the motor is reversely rotated to the meshing position, and when the meshing position is reached, the motor is forwardly rotated and tightened. .   When it is determined that there is a winding failure by monitoring the tightening state, it is determined whether the setting condition for re-tightening the cap on the container is satisfied, and only when the setting condition is satisfied, the meshing position 4. The cap tightening method according to claim 2, wherein the motor is rotated backward until the meshing position is reached, and the motor is rotated forward and tightened.   The method of winding a cap according to any one of claims 1 to 4, wherein the motor is connected so as to directly rotate the capping head.   The cap winding method according to any one of claims 1 to 5, wherein the screw part is a double thread part. A cap tightening device for winding a cap having a threaded portion onto a container having a threaded portion,
A capping head for gripping the cap having the screw portion;
A motor for rotationally driving the capping head;
A control device for controlling the motor;
Winding tightening monitoring means for outputting the monitoring result of the winding tightening state to the control device,
When the controller determines that a winding failure has occurred by monitoring the tightening state when the motor is rotated forward to wind the cap around the container, the screw portion of the cap and the screw portion of the container are engaged with each other. A cap tightening device, wherein the motor is reversely rotated to a meshing position, and when the meshing position is reached, the motor is rotated forward to perform tightening control.   The control device is a setting for rewinding the cap around the container when the winding failure is determined by monitoring the tightening state when the cap is wound around the container by rotating the motor forward. Only when the satisfaction of the condition is determined and the setting condition is satisfied, the motor is reversely rotated to the meshing position, and when the meshing position is reached, the motor is rotated forward and tightened. The cap tightening device according to claim 7. A cap tightening device for winding a cap having a threaded portion onto a container having a threaded portion,
A capping head for gripping the cap having the screw portion;
A motor for rotationally driving the capping head;
A control device for controlling the motor;
Torque detecting means for detecting torque acting on the capping head,
The control device rotates the motor forward to wind the cap around the container,
When the torque applied to the capping head at the time of rotating the motor forward and winding the cap around the container is an abnormal value, the screw portion of the cap is detected based on the detected torque change acting on the capping head. The cap is formed so as to execute a control for rotating the motor in the reverse direction to a meshing position where the screw part of the container meshes with the screw part and rotating the motor forward when the meshing position is reached. Winding device. A cap tightening device for winding a cap having a threaded portion onto a container having a threaded portion,
A capping head for gripping the cap having the screw portion;
A motor for rotationally driving the capping head;
A control device for controlling the motor;
Torque detecting means for detecting torque acting on the capping head,
The control device reversely rotates the motor to a meshing position where the screw part of the cap and the screw part of the container mesh with each other based on the detected torque change acting on the capping head, and when the meshing position is reached, the motor Is detected when the torque applied to the capping head when the cap is wound around the container by rotating the motor forward is an abnormal value. Based on a torque change acting on the capping head, the motor is reversely rotated to the meshing position where the meshing positions are engaged, and when the meshing position is reached, the motor is rotated forward and tightened to perform tightening control. Cap tightening device. A cap tightening device for winding a cap having a threaded portion onto a container having a threaded portion,
A capping head for gripping the cap having the screw portion;
A motor for rotationally driving the capping head;
A control device for controlling the motor;
Torque detecting means for detecting torque acting on the capping head;
Position detecting means for detecting a positional relationship between the cap and the container;
The control device stores in advance the height of the cap at a meshing position where the screw portion of the cap and the screw portion of the container mesh with each other, and forwardly rotates the motor to wind the cap around the container. In addition, when the torque applied to the capping head when the motor is rotated forward and the cap is wound around the container is an abnormal value, the motor is moved to the meshing position based on the detected height of the cap. The cap tightening device is configured to execute a control of rotating the motor forward and rotating the motor forward when the meshing position is reached. A cap tightening device for winding a cap having a threaded portion onto a container having a threaded portion,
A capping head for gripping the cap having the screw portion;
A motor for rotationally driving the capping head;
A control device for controlling the motor;
Torque detecting means for detecting torque acting on the capping head;
Position detecting means for detecting a positional relationship between the cap and the container;
The control device stores in advance the height of the cap at a meshing position where the threaded portion of the cap and the threaded portion of the container are meshed, and based on the detected height of the cap up to the meshed position. When the motor is rotated in the reverse direction and the engagement position is reached, the motor is rotated forward to wind the cap around the container, and the motor is rotated forward to wind the cap around the container. When the applied torque is an abnormal value, control is performed to reversely rotate the motor to the meshing position based on the detected height of the cap, and to rotate the motor forward and tighten when the meshing position is reached. It is formed so that the cap winding device. A cap tightening device for winding a cap having a threaded portion onto a container having a threaded portion,
A capping head for gripping the cap having the screw portion;
A motor for rotationally driving the capping head;
A control device for controlling the motor;
Torque detecting means for detecting torque acting on the capping head;
Angle detecting means for detecting a rotational angle position of the capping head,
The control device reversely rotates the motor to a meshing position where the screw part of the cap and the screw part of the container mesh with each other based on the detected torque change acting on the capping head. While detecting the rotation angle position of the capping head based on the meshing position and detecting the torque acting on the capping head, the motor is rotated forward to wind the cap around the container,
When the torque applied to the capping head when the motor is rotated forward and the cap is wound around the container is an abnormal value, the rotation of the motor is stopped and the angle detection means detects when the motor stops. The cap tightening device is configured to execute a control for rotating the motor in the reverse direction to the meshing position based on the result, and rotating the motor forward and tightening when the meshing position is reached.   When the torque applied to the capping head when winding the cap around the container by rotating the motor forward is an abnormal value, the control device sets the setting condition for rewinding the cap around the container. Only when the satisfaction is determined and the setting condition is satisfied, the motor is reversely rotated to the meshing position, and when the meshing position is reached, the motor is rotated forward and tightened. 14. The cap tightening device according to any one of claims 9 to 13, characterized in that:   The cap tightening device according to any one of claims 7 to 14, wherein the motor is connected so as to directly drive the capping head.   The cap tightening device according to any one of claims 7 to 15, wherein the screw part is a double thread part.